VAL_GetInverseTransformation
FUNCTION_BLOCK VAL_GetInverseTransformation
This functions blocks converts a cartesian position into a joint position. The computed joint position is computed with following rules:
- If configuration fields of the cartesian position (CS CE CW) is 1, robot's final configuration is not easily predictable. For this reason, it is not recommended to have CS CE or CW set to 1.
- If configuration fields of the cartesian position (CS CE CW) is 2, robot's final configuration is the same than this defined by JointReference parameter.
- If configuration fields of the cartesian position (CS CE CW) are 3 or 4, robot's final configuration is this of Cartesian input position.
Syntax
Definition:
FUNCTION_BLOCK VAL_GetInverseTransformation
VAR_INPUT
Execute : BOOL := FALSE;
Position : T_CartesianPos;
ToolNumber : UINT := 0;
CoordSystem : UINT := 0;
JointReference : T_JointPos;
END_VAR
VAR_OUTPUT
Busy : BOOL := FALSE;
Done : BOOL := FALSE;
Error : BOOL := FALSE;
ErrorID : UDINT := 0;
JointPos : T_JointPos;
END_VAR
VAR_IN_OUT
AxesGroup : T_StaeubliRobot;
END_VAR
Inputs
Name | Type | Description |
|---|---|---|
Execute | BOOL | Rising edge triggers function execution |
Position | Cartesian position to convert into a joint position | |
ToolNumber | UINT | Number of the Tool Center Point used for the computation. The Tool Center Point is located in a plc dedicated database on robot side |
CoordSystem | UINT | Number of the user frame to which the cartesian position relates. The user frame is stored in a plc dedicated database located on robot side. |
JointReference | Joint position used as a reference if configuration fields of input position are 1 or 2 |
Outputs
Name | Type | Description |
|---|---|---|
Busy | BOOL | Set when function block is executing. Reset when Done or Error is set |
Done | BOOL | This output is set when function block has terminated with success |
Error | BOOL | This output is set when function block has terminated with error |
ErrorID | UDINT | Error code |
JointPos | Coordinates of the computed joint position |